1. RoboStar Technology: A Roboticist's Toolbox for Combined Proof, Simulation, and Testing;Cavalcanti,2021
2. Unifying Theories of Programming;Hoare,1998
3. RoboChart: modelling and verification of the functional behaviour of robotic applications;Miyazawa;Softw. Syst. Model.,2019
4. Probabilistic modelling and verification using RoboChart and PRISM;Ye;Softw. Syst. Model.,2021
5. Probabilistic semantics for RoboChart;Woodcock,2019